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P In [Escr Please cite this nternational Jo A Dan Fuzzy have e This p princip contro experi within evalua 1 Tradit of the imple and to by Lo expre mathe severa most r Fuzzy 20 stu introd such a Howe and th curren discus GUNT ball-b hold t develo relativ should On th intuiti fuzzy orient imple digita Fuzzy comp riba texto] s paper as: ournal of Electr An Edu niel Zaldivar, a D controllers hav enabled designe paper presents ples at undergol study aims to ments. The pr n the Electronic ation of their im 1. Introdu tional method e system to be ementation of oo difficult or ofti Zadeh [1] sses operatio ematical equa al successful robust and eas y control is an udents per sem duction of fuzz as an educatio ever, the numb he existing on nt available f ssed below. T [7] provide beam model w the ball in a opment softw ve high cost a d be rather co he other side, t ive way. It pr logic gates A tation aims to ementation, it al based system yTECH [9] is letely graphic rical Engineeri ucation u , Erik Cuevas epartamento d Av. R ve gained popuers to control can educational raduate level b accompany stu oposed educatcs Department mpact in the stud ction ds to control a e controlled. A the control al r impossible to ] which helps onal laws of ations. Such l fuzzy control sy to impleme n elective cour mester at each zy control con onal platform ber of comme nes are either t fuzzy logic l es an introduc which acts as a specific posit ware FSH-She and large dime nsidered as a the CE124 [8] rovides a sche AND & OR, o implement does not prov ms. a family of cal and based ing Education, nal Fuz using L s, Marco A. P Edga de Electrónica Revolución 150 larity in the paomplex system platform base by providing a udents to the le ional platform in the Universident performanany dynamic s An accurate ap gorithm. Unfo o model accu to reduce the a control s linguistic term approaches i ent algorithms rse at the seco h academic ye ncepts to unde radically help rcially availab too expensive aboratory kit ction to digita a mechanical s tion by tilting ell and then c ensions have y demonstrative ] has been des ematic panel NOT blocks fuzzy system vide conveniefuzzy logic a on ISO 9000 Volume 50, Nu zzy-bas LEGO Pérez-Cisnero ar O. Palafox a, Universidad 00, Guadalaja Abstract st few decades ms through lingu ed on LEGO© a simple and e arning of fuzzy has been succ ty of Guadalajce are both prosystem require pproximation ortunately, mo urately. Fuzzy e complexity system in lin ms are expres in the literatur s. nd year of Ele ear. It has bee ergraduates is ps to understa ble educationa e or relative co ts that offer l real-time co single-variabl g the beam. C compiled to yielded a non e tool. signed to allow compound wi and a defuzz ms by using ant programmi and neural-fuz and IEC 1131 umber 2 (April sed Con Robot os, Juan H. S x d de Guadalaja ara, Jal, Méxic with successful uistic-based rul NXT to assist asy-to-follow t y control fundam cessfully applie ara. The descrivided in the pap e the use of s of the system ost real system logic is a ma of controlling nguistic term ssed in the f re, the fuzzy ectronic Engin en agreed amo challenging a and the practic al fuzzy contro omplex to be practical han ontrol by fuzz e system. A fu Control algori generate mic n-practical ind w users to qui ith two fuzzif zifier. It is a nalogue elem ng properties zzy developm 1-7 fuzzy logi 2013), Manche ntrol p s Sossa, Jose G. ara, CUCEI co l implementatio es in contrast t t the learning teaching setupmentals by buied to several u ption of robotiper. some knowled m is thus crucia ms are nonline athematical fra g nonlinear sy ms instead of form of IF-TH PD controller neering. The c ong our facult and that experi cal implicatio ol laboratory k used. A quick nds-on experie zy methods. T uzzy control i ithms are init crocontroller dividual develo ickly impleme fiers, a fuzzy unique hardw ments. Despite which are no ment tools who ic standards. I ester University platform . Rodríguez, ons in many fie to traditional m of fuzzy logic . The proposed lding hands-on undergraduate c experiments dge about the al for the succ ear, highly com amework dev ystems. Fuzzy f traditionally HEN rules. A r [2-6] is one course attracts ty members th imental comp ons of fuzzy c kits is rather l k overview on ence to stude The setup incl is used to atte tially written code. Howev opment setup ent fuzzy logic state table, a ware module e delivering a ormally availaose programm It provides co y Press, pp. 15 m lds that methods. control d fuzzy robotic courses and the model cessful mplex, eloped y logic y used Among of the s about hat the ponents ontrol. limited n some ents is ludes a empt to in the ver, its which c in an set of whose a quick ble for ming is de and 57-171.

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Page 1: lease cite this paper as: International Journal of Electrical ...esther/teaching/2017s1/mc959/PDFuzzy.pdf · s through lingu d on LEGO© simple and e arning of fuzzy has been succ

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A

Dan

Fuzzy have eThis pprincipcontroexperiwithinevalua

1 Traditof theimpleand toby Loexprematheseveramost r Fuzzy20 stuintrodsuch aHoweand thcurrendiscus GUNTball-bhold tdevelorelativshould On thintuitifuzzy orientimpledigita Fuzzycomp

riba texto]

s paper as: ournal of Electr

An Edu

niel Zaldivar,

aD

controllers havenabled designepaper presents ples at undergr

ol study aims toments. The pr

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1. Introdu

tional methode system to beementation of oo difficult orofti Zadeh [1]sses operatioematical equaal successful robust and eas

y control is anudents per semduction of fuzzas an educatioever, the numbhe existing onnt available fssed below.

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he other side, tive way. It pr

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yTECH [9] isletely graphic

rical Engineeri

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ds to control ae controlled. Athe control al

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n elective courmester at eachzy control cononal platform ber of commenes are either tfuzzy logic l

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ms.

a family of cal and based

ing Education,

nal Fuzusing L

s, Marco A. PEdga

de ElectrónicaRevolución 150

larity in the pasomplex system platform base

by providing audents to the leional platform in the Universitdent performanc

any dynamic sAn accurate apgorithm. Unfoo model accuto reduce the

f a control slinguistic term approaches i

ent algorithms

rse at the secoh academic yencepts to underadically helprcially availabtoo expensiveaboratory kit

ction to digitaa mechanical stion by tiltingell and then censions have ydemonstrative

] has been desematic panel NOT blocks

fuzzy systemvide convenien

fuzzy logic aon ISO 9000

Volume 50, Nu

zzy-basLEGO

Pérez-Cisneroar O. Palafox

a, Universidad00, Guadalaja

Abstract

st few decades wms through lingued on LEGO© a simple and earning of fuzzyhas been succ

ty of Guadalajace are both prov

system requirepproximation ortunately, mo

urately. Fuzzy e complexity system in linms are expresin the literaturs.

nd year of Eleear. It has beeergraduates is ps to understable educationae or relative cots that offer

l real-time cosingle-variablg the beam. Ccompiled to yielded a none tool.

signed to allowcompound wiand a defuzz

ms by using annt programmi

and neural-fuzand IEC 1131

umber 2 (April

sed ConRobot

os, Juan H. Sx

d de Guadalajaara, Jal, Méxic

with successfuluistic-based rulNXT to assist

asy-to-follow ty control fundamcessfully applieara. The descripvided in the pap

e the use of sof the system

ost real systemlogic is a maof controlling

nguistic termssed in the fre, the fuzzy

ectronic Enginen agreed amochallenging a

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ara, CUCEI co

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in the ver, its

which

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whose a quick ble for

ming is de and

57-171.

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runtimas InTtargetmost o The Ffuzzy contriMAT It is hardwappliccomprobotilasting So far19]. Twith ctheir therefengin The LwhichLEGOhardwand Cthe dproce In thisfuzzy algoritwo exconceare enplatfofuzzy emergimpactheory The pthe eorientperfor

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57-171.

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Tablehandstrend have bindex been o

7 Fuzzyindustcontro By usnonlinbasedcourseexperwhile are prof a Lto imExperissuestrend workelearnithe stu Refe [1] L. [2] H.513-5 [3] Hcontro [4] YAnalyAlbuq [5] Econtro1998 I [6] F. applic

Ex

riba texto]

s paper as: ournal of Electr

e 1 presents ths-on robotic cis observed fbeen given toaddresses low

observed for e

7. Conclus

y controllers htrial and acadol courses in m

sing fuzzy lonear systems.

d on LEGO© es. The capabiments using the second so

resented incluLEGO© NXT

mplement contrimental evides for the studto hold the kned through thing of fuzzy cudents.

erences

A. Zadeh, ´F

. Ying, W. Sil520.

H.A. Malki, hol systems´, IE

Y.C Hsu, G. ysis´ Proceedquerque, NM,

. Sanchez, L.ol´, Fuzzy SysIEEE Interna

Lara-Rojo, Ecations´, Journ

Course Examxamination af

rical Engineeri

he Course Exourse are high

for the Examino students attewer values foeither the Cou

Ta

sions

have becomedemic subjectmany technica

gic control, dIn this papeNXT to assi

bilities and lima fuzzy PD c

olves the robouding their cor

as a robust rotrol algorithmence shows anents who havnowledge of fuhe proposed econtrol by con

uzzy sets´. Inf

ler, J. J. Buckl

h. Li, G. CheEEE Transacti

Chen, E. Sandings of the

1997, pp. 141

A. Nuno, Y.Cstems Proceedtional Confer

E.N. Sanchez, nal of Applied

mination fter a year

ing Education,

xamination indher than thosenation after a ending the fuzor students atturse Examinat

able 1. The aver

popular in rts. Such trendal colleges and

designing a cr, the authorsist the learninmitations of Lcontroller. Theot’s path trackrresponding eobotic platform

ms by simplyn increase in tve attended thfuzzy control iexercises. Sucnnecting theor

formation and

ley, ´Fuzzy Co

n, ´New desiions on Fuzzy

nchez, ‘A Fu1997 IEEE

12-1417.

C. Hsu, G. Cdings, 1998. Ience on , 1, (1

D. Zaldivar, d Research an

Fuzzy con

Average 70 55

Volume 50, Nu

dex which she given to stuyear index. A

zzy hands-on tending a trad

tion or the Exa

raged scholar-p

recent decaded has indeed d universities

ontroller is res have presenng of fuzzy cLEGO© NXTe first experim

king task. Bothxperimental rm for teachin

y doing progrthe performanhe hands-on rissues for longch results indry and exercis

d control, Vol

ontrol Theory

ign and stabiy Systems, 2 (

uzzy controlleInternational

Chen, ´Fuzzy PIEEE World C1998), 302-30

´Minimal fuzzd Technology

ntrol course

Best Worst92 60 76 45

umber 2 (April

hows that the udents attendinAgain, the Bes

control coursditional fuzzyamination afte

performance res

es with succestriggered a r

around the wo

elatively simpnted the use ocontrol concepT mobile roboment addresseh algorithms aresults. The pag fuzzy controramming at a

nce and reinforobotic exercisger periods of dicates that thses yet sowin

l. 8, Academic

y: A Nonlinear

ility analysis(1994), 245 –

er for a Multl Conference

PD scheme foCongress on 06.

zy microcontry, 1(2) (2003)

Fuzzy

t Av

2013), Manche

marks for stung a traditionst index showse. On the othy control courer a year index

sults

ssful implemeremarkable aorld.

ple task yet fof a simple epts in undergrots have been s the robot’s

and their requaper has also ol. The platfoa high-level rcement of leases. Similarly

f time for thosehe use of robg a deeper an

c, New York,

r Case, Autom

of fuzzy pro254.

ti-Link Roboe on Robotics

for underactuaComputationa

roller impleme137-147.

y control courrobotic exe

verage 82 72

ester University

udents attendial course. A s

ws that higher her hand, the rse. Same trenx.

entations in savailability of

facing compleducational plraduate enginstudied with

orientation prired additionashown the po

orm enables stlanguage inte

arning fuzzy cy, evidence she students wh

botics motivatnd lasting imp

1965, pp 338-

matica, 26 (3)

oportional-deri

t Control: Sts and Autom

ated robot swal Intelligence

entation for d

rse + hands-onercises

Best 100 97

y Press, pp. 15

ing the similar marks Worst

nd has

several f fuzzy

ex and atform

neering in two roblem al tools otential tudents erface. control hows a o have tes the pact on

-353.

1990,

ivative

tability mation,

wing-up e., The

idactic

n

Worst 73 62

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[7] GUGmbH[8] Csystem [9] Fu [10] logic/

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[12] Cin Au2451– [13] JLEGOTRAN [14] TEngin [15] ANoll, Cours [16] Bengin [17] Procevolum [18] Fsystem [19] PEduca [20] Lsmall, [21] Rprogra [22] Din theConfe [23] DLEGO2011, [24] AelectrAppli

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s paper as: ournal of Electr

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uzzyTech, http

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L. Meeden. Ueedings of the da AI Research

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Kumar, D., eedings of theme 30(1) of SI

Fabiane Barrematic review´,

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R. Ramli, Mam´, Procedia

D. Martinec ae IEEE Intererence on Syst

D. Zermas, CO Platform, IE pp. 1381-138

A. Vourvopouical activity, ications, Athe

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bau, GmbH, Rg, Barsbuttel, 2

Logic Traineed on April 20

p://www.fuzzy

Logic Toolbessionid=6524

Using RobotsNinth Florid

h Society, 199

A. Candelas, Robotics usin

de-Gabriel, Abile Robots W

ON EDUCA

Gale, L. A. LEGOs´, IEEE T

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Chiel, H. J.; anmunications of

and Meeden,e 29th SIGCSIGCSE Bulleti

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nd Drushel, Rf the ACM 42(

, L. 1998. ASE Technical Sn, 341–344. N

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´Mobile RoboEE Robotics an

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´Vehicular Pnference on Cntrol, Denver,

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Control: Ball

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Neumann, R. SAB Meets LEANSACTION

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A robot laborSymposium o

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Lego Nxt MSectional Con

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